Underwater vehicles with integrated surface cleaning and inspection

Abstract

Integrated probes and probe systems suitable for attachment to a robotic arm of a remotely operated vehicle are disclosed. The probes and probe systems serve to perform cleaning operations and both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The cathodic protection measurement system includes one or more electrically conductive legs that extend outwardly from the probe. These legs are arranged about a cleaning tool and an ultrasonic sensor. When the integrated probe contacts the underwater surface, at least one leg contacts the surface, thereby providing a desired distance between the probe and the underwater surface for efficient cleaning and UT inspection. The underwater surface can be cleaned and CP and UT measurements can all be performed using a single, integrated probed during a single operation, without having to reposition the probe.

What is claimed: 
     
       1. An integrated probe suitable for performing cleaning, cathodic protection voltage readings, and ultrasonic testing thickness measurements at an underwater surface, comprising:
 a housing having a front surface and a rear surface; 
 a cleaning jet tool having an orifice extending through the front surface of the housing; 
 an ultrasonic probe disposed within the housing, the ultrasonic probe having a transducer crystal and a flexible membrane arranged about the transducer crystal; and 
 a cathodic inspection tool having one or more legs, each having an electrically conductive tip and a subsea housing containing a reference electrode, each leg extending longitudinally away from the housing and arranged about the cleaning jet tool and ultrasonic probe, 
 wherein the one or more legs are passively adjustable in response to a force imparted when the one or more legs contact the underwater surface, and 
 wherein the one or more legs extend away from the housing at a distance such that in a condition in which the conductive tip of the one or more legs is in contact with the underwater surface, the cleaning jet tool and ultrasonic probe are at a distance for effective cleaning and ultrasonic measuring, respectively. 
 
     
     
       2. The integrated probe according to  claim 1 , wherein the orifice of the cleaning jet tool is located at a central location of the housing. 
     
     
       3. The integrated probe according to  claim 1 , wherein the ultrasonic probe extends about the orifice of the cleaning jet tool. 
     
     
       4. The integrated probe of  claim 1 , wherein the one or more legs provide a degree of flexibility that flexes to orient the cleaning jet tool and ultrasonic probe toward the underwater surface to be cleaning and inspected in a condition in which the one or more legs are in contact with the underwater surface. 
     
     
       5. The integrated probe according to  claim 1 , wherein the electrically conductive tip is made of stainless steel. 
     
     
       6. The integrated probe according to  claim 1 , wherein the one or more legs are arranged about the ultrasonic probe as two pairs of diametrically opposed legs. 
     
     
       7. The integrated probe according to  claim 1 , further comprising one or more joints coupling the housing to an external carrier. 
     
     
       8. A system for performing cleaning, cathodic protection voltage readings, and ultrasonic testing thickness measurements at an underwater surface, comprising:
 a remotely operated underwater vehicle having a robotic support arm with a distal end; 
 an integrated probe for cleaning, measuring cathodic protection voltage, and ultrasonic testing thickness measurement coupled to the distal end of the robotic support arm, wherein the integrated probe includes:
 a housing having a front surface and a rear surface; 
 a cleaning jet tool having an orifice extending through the front surface of the housing; 
 an ultrasonic probe disposed within the housing, the ultrasonic probe having a transducer crystal and a flexible membrane arranged about the transducer crystal; and 
 a cathodic inspection tool having one or more legs, each having an electrically conductive tip and a subsea housing containing a reference electrode, each leg extending longitudinally away from the housing and arranged about the cleaning jet tool and ultrasonic probe, 
 wherein the one or more legs are passively adjustable in response to a force imparted when the one or more legs contact the underwater surface, and 
 wherein the one or more legs extend away from the housing at a distance such that in a condition in which the conductive tip of the one or more legs is in contact with the underwater surface, the cleaning jet tool and ultrasonic probe are at a distance for effective cleaning and ultrasonic measuring, respectively. 
 
 
     
     
       9. The system according to  claim 8 , wherein the orifice of the cleaning jet tool is located at a central location of the housing. 
     
     
       10. The system according to  claim 8 , wherein the ultrasonic probe extends about the orifice of the cleaning jet tool. 
     
     
       11. The system of  claim 8 , wherein the one or more legs provide a degree of flexibility that flexes to orient the cleaning jet tool and ultrasonic probe toward the underwater surface to be cleaning and inspected in a condition in which the one or more legs are in contact with the underwater surface. 
     
     
       12. The system according to  claim 8 , wherein the electrically conductive tip is made of stainless steel. 
     
     
       13. The system according to  claim 8 , wherein the one or more legs are arranged about the ultrasonic probe as two pairs of diametrically opposed legs. 
     
     
       14. The system according to  claim 8 , further comprising one or more joints coupling the housing to an external carrier.